Abstract
The fields of artificial intelligence and bio-inspired robotics have proven to cross several other fields of expertise including Cognitive Neuroscience. Here, we review principles of interaction between a natural (or artificial) organism and the environment where it lives. Then we ask whether such structural coupling shapes the way it behaves. For instance, how the sensory processing of the external world controls actions, and finally, behavior? We remind the main sources of inspiration for bio-inspired robotics and relate them to currently active fields of research like Embodiment and Enaction. These latter concepts are illustrated by examples of recent researches on two main aspects: (i) bio-inspired algorithms processing sensory signals coming from the outer world and (ii) bio-inspired controllers based on human behavior and physiology. Finally, we include an example of a bio-inspired robot controller design based on the concepts here exposed.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
- 2.
- 3.
Scenario with color cubes: raw visual input (https://youtu.be/dLpcimLrfkA); retina-based visual input (https://youtu.be/I9dhgVhbiVs). Scenario with textured cubes: raw visual input (https://youtu.be/xlW1cIa42ls); retina-based visual input (https://youtu.be/Y6eHLBWxPfg).
References
Adams S, Arel I, Bach J, Coop R, Furlan R, Goertzel B, Hall JS, Samsonovich AV, Scheutz M, Schlesinger M, Shapiro SC, Sowa JF (2012) Mapping the landscape of human-level artificial general intelligence. AI Mag 33(1)
Alexandre F (2009) Cortical basis of communication: local computation, coordination, attention. Neural Netw 22(2):126–133
Alexandre F, Guyot F, Haton JP, Burnod Y (1991) The cortical column: a new processing unit for multilayered networks. Neural Netw 4(1):15–25
Arkin RC (1998) Behavior-based robotics. MIT Press, Cambridge
Attneave F (1954) Some informational aspects of visual perception. Psychol Rev 183–193
Aubert G, Kornprobst P (2006) Mathematics of image processing. In: Françoise JP, Naber G, Tsou S (eds) Encyclopedia of mathematical physics, vol 3. Elsevier, Oxford, pp 1–9. ftp://ftp-sop.inria.fr/odyssee/Publications/2006/aubert-kornprobst:06.pdf
Barlow H (2001) Redundancy reduction revisited. Network 12(3):241–253
Barlow HB (1961) Possible principles underlying the transformation of sensory messages. Sens Commun 217–234
Baudot P (2006) Natural computation, much ado about nothing? PhD thesis, University Pierre et Marie Curie, Paris. http://tel.archives-ouvertes.fr/docs/00/20/37/12/PDF/These_piero_nature_is_the_code.pdf
Beati T, Carrere M, Alexandre F (2013) Which reinforcing signals in autonomous systems? In: Third international symposium on biology of decision making, Paris, France. https://hal.inria.fr/hal-00826603
Bobick A, Richards W (2006) Classifying objects from visual information. Technical report AIM-879, M.I.T. http://dspace.mit.edu/handle/1721.1/6443
Bongard J, Lipson H (2005) Active coevolutionary learning of deterministic finite automata. J Mach Learn Res 6:1651–1678
Bongard J, Zykov V, Lipson H (2006) Resilient machines through continuous self-modeling. Science 314(5802):1118–1121
Brivanlou IH, Warland DK, Meister M (1998) Mechanisms of concerted firing among retinal ganglion cells. Neuron 20:527–529
Brooks R (1986) A robust layered control system for a mobile robot. IEEE J Robot Autom 2(1):14–23
Brooks RA (1991) Intelligence without representation. Artif Intell 47(1–3):139–159
Brown C, Coombs D, Soong J (1993) Real-time smooth pursuit tracking. In: Blake A, Yuille A (eds) Active vision, chap VIII. The MIT Press, pp 123–136
Carrere M, Alexandre F (2015) A pavlovian model of the amygdala and its influence within the medial temporal lobe. Front Syst Neurosci 14. https://doi.org/10.3389/fnsys.2015.00041. https://hal.inria.fr/hal-01145790
Carvajal C (2014) Dynamic interplay between standard and non-standard retinal pathways in the early thalamocortical visual system: a modeling study. PhD thesis, Université de Lorraine
Cessac B, Viéville T (2008) On dynamics of integrate-and-fire neural networks with adaptive conductances. Front Neurosci 2(2)
Comon P, Jutten C, Herault J (1991) Blind separation of sources, part II: problems statement. Signal Process 24:11–20. http://portal.acm.org/citation.cfm?id=119708
Craig A (2009) How do you feel - now? The anterior insula and human awareness. Nat Rev Neurosci 10:59–70
Dacey D (1999) Primate retina: cell types, circuits and color opponency. Prog Retin Eye Res 18(6):737–763
Damasio A, Carvalho GB (2013) The nature of feelings: evolutionary and neurobiological origins. Nat Rev Neurosci 14(2):143–152
Davis DN (2002) Computational architectures for intelligence and motivation. In: Proceedings of the 2002 IEEE international symposium on intelligent control. IEEE, pp 520–525
Dayan P, Abbott LF (2005) Theoretical neuroscience: computational and mathematical modeling of neural systems. The MIT Press, Cambridge
Denoyelle N, Pouget F, Viéville T, Alexandre F (2014) VirtualEnaction: a platform for systemic neuroscience simulation. In: International congress on neurotechnology, electronics and informatics, Rome, Italy. https://hal.inria.fr/hal-01063054
DeVries S (1999) Correlated firing in rabbit retinal ganglion cells. J Neurophysiol 81(2):908–920
Escobar MJ, Kornprobst P (2012) Action recognition via bio-inspired features: the richness of center-surround interactions. Comput Vis Image Underst 116:593–605
Escobar MJ, Masson GS, Vieville T, Kornprobst P (2009) Action recognition using a bio-inspired feedforward spiking network. Int J Comput Vision 82(3):284
Farabet C, Couprie C, Najman L, LeCun Y (2013) Learning hierarchical features for scene labeling. IEEE Trans Pattern Anal Mach Intell 35(8):1915–1929. http://doi.ieeecomputersociety.org/10.1109/TPAMI.2012.231
Faugeras O, Luong Q, Papadopoulo T (2001) The geometry of multiple images. MIT Press, Cambridge
Field G, Chichilnisky E (2007) Information processing in the primate retina: circuitry and coding. Annu Rev Neurosci 30:1–30
Floreano D, Suzuki M (2006) Active vision and neural development in animals and robots. In: Proceedings of the seventh international conference on cognitive modeling, pp 10–11. http://iccm2006.units.it/
Friston K, Rigoli F, Ognibene D, Mathys C, Fitzgerald T, Pezzulo G (2015) Active inference and epistemic value. Cogn Neurosci 1–28. http://view.ncbi.nlm.nih.gov/pubmed/25689102
Friston K, Schwartenbeck P, Fitzgerald T, Moutoussis M, Behrens T, Dolan RJ (2013) The anatomy of choice: active inference and agency. Front Human Neurosci 7. https://doi.org/10.3389/fnhum.2013.00598. http://dx.doi.org/10.3389/fnhum.2013.00598
Geisler W (2008) Visual perception and the statistical properties of natural scenes. Annu Rev Psychol 59:167–192
Giese M, Poggio T (2003) Neural mechanisms for the recognition of biological movements and actions. Nat Rev Neurosci 4:179–192
Girard B, Cuzin V, Guillot A, Gurney K, Prescott T (2003) A basal-ganglia inspired model of action selection evaluated in a robotic survival task. J Integr Neurosci 2(2):179–200
Gollisch T, Meister M (2008) Rapid neural coding in the retina with relative spike latencies. Science 319:1108–1111. https://doi.org/10.1126/science.1149639
Gurney K, Prescott T, Wickens J, Redgrave P (2004) Computational models of the basal ganglia: from robots to membranes. Trends Neurosci 27(8):453–459
ter Haar Romeny BM (2003) Front-end vision and multi-scale image analysis - multi-scale computer vision theory and applications, written in mathematics. Comput Imaging Vis vol 27. Springer, Berlin
Harnard S (1990) The symbol grounding problem. Physica D 42:335–346
Henderson TC (1992) Object identification in context: the visual processing of natural scenes. Can J Psychol: Special Issue Object Scene Process 46:319–342
Hubel D, Wiesel T (1962) Receptive fields, binocular interaction and functional architecture in the cat visual cortex. J Physiol 160:106–154
Hyvärinen (2009) Natural image statistics. Springer, Berlin. http://www.cs.helsinki.fi/u/ahyvarin/papers/viscor.shtml
Iocchi L, Nardi D, Salerno M (2001) Reactivity and deliberation: a survey on multi-robot systems. In: Balancing reactivity and social deliberation in multi-agent systems. Springer, Berlin, pp 9–32
Jhuang H, Serre T, Wolf L, Poggio T (2007) A biologically inspired system for action recognition. In: ICCV, pp 1–8
Kaplan F, Oudeyer PY (2008) Intrinsically motivated machines. In: Lungarella M, Iida F, Bongard J, Pfeifer R (eds) 50 Years of AI, p. n/a. Lungarella M, Iida F, Bongard J, Pfeifer R. https://hal.inria.fr/inria-00420223
Karl F (2012) A free energy principle for biological systems. Entropy 14(11):2100–2121. https://doi.org/10.3390/e14112100. http://dx.doi.org/10.3390/e14112100
Kassab R, Alexandre F (2009) Incremental data-driven learning of a novelty detection model for one-class classification with application to high-dimensional noisy data. Mach Learn 74(2):191–234
Knill DC, Richards W (eds) (1996) Perception as bayesian inference. Cambridge University Press, New York
Kornprobst P, Vieville T, Chemla S, Rochel O (2006) Modeling cortical maps with feed-backs. In: 29th European conference on visual perception, p 53
Krichmar JL (2013) A neurorobotic platform to test the influence of neuromodulatory signaling on anxious and curious behavior. Front Neurorobot 7
Krichmar JL, Wagatsuma H (2011) Neuromorphic and brain-based robots. Cambridge University Press, Cambridge
Kurzweil R (2012) How to create a mind: the secret of human thought revealed. Penguin, London
LeDoux J (2007) The amygdala. Curr Biol 17(20):R868–R874
Marr D (1982) Vision: A computational investigation into the human representation and processing of visual information. W.H. Freeman, New York
Masland R (2001) The fundamental plan of the retina. Nature Neurosci 4(9)
Masland R (2001) Neuronal diversity in the retina. Curr Opin Neurobiol 11(4):431–436
Masland RH, Martin PR (2007) The unsolved mystery of vision. Current Biol 17(15):R577–R582. https://doi.org/10.1016/j.cub.2007.05.040. http://dx.doi.org/10.1016/j.cub.2007.05.040
Mastronarde D (1983) Correlated firing of cat retinal ganglion cells. I. Spontaneously active inputs to X-and Y-cells. J Neurophysiol 49(2):303–324
Maunsell J, Newsome W (1987) Visual processing in monkey extrastriate cortex. Ann Rev Neurosci 10:363–401
Medioni G, Kang S (2004) Emerging topics in computer vision. Prentice Hall, Hoboken
Meister M, Pine J, Baylor DA (1994) Multi-neuronal signals from the retina: acquisition and analysis. J Neurosci Methods 51(1):95–106. http://view.ncbi.nlm.nih.gov/pubmed/8189755
Meyer JA, Guillot A, Girard B, Khamassi M, Pirim P, Berthoz A (2005) The psikharpax project: towards building an artificial rat. Robot Auton Syst 211–223
Milner AD, Goodale MA (2008) Two visual systems re-viewed. Neuropsychologia 46:774–785
Minsky M (1988) Society of mind. A touchstone book. Simon & Schuster, New York
Minsky M (2007) The emotion machine: commonsense thinking, artificial intelligence, and the future of the human mind. Simon & Schuster, New York
Moulin-Frier C, Nguyen SM, Oudeyer PY (2013) Self-organization of early vocal development in infants and machines: the role of intrinsic motivation. Front Psychol 4(1006). https://doi.org/10.3389/fpsyg.2013.01006. https://hal.inria.fr/hal-00927940
Neuenschwander S, Singer W (1996) Long-range synchronization of oscillatory light responses in the cat retina and lateral geniculate nucleus. Nature 379(6567):728–732
Nirenberg S, Latham P (1998) Population coding in the retina. Curr Opin Neurobiol 8:488–493
O’Regan K, Noe A (2001) A sensorimotor account of vision and visual consciousness. Behav Brain Sci 24:939–1031
O’Reilly R, Munakata Y, Frank MJ, Hazy TE (2014) Goal-driven cognition in the brain: a computational framework (2014). arXiv:1404.7591
Pezzulo G, Verschure PFMJ, Balkenius C, Pennartz CMA (2014) The principles of goal-directed decision-making: from neural mechanisms to computation and robotics. Philos Trans R Soc Lond B: Biolog Sci 369(1655):20130,470+. https://doi.org/10.1098/rstb.2013.0470
Pfeifer R, Bongard J, Grand S (2007) How the body shapes the way we think: a new view of intelligence, Bradford Books. MIT Press, Cambridge
Philipona D, O’Regan K, Nadal JP, Coenen OM (2004) Perception of the structure of the physical world using unknown sensors and effectors. In: Thrun S, Saul L, Scholkopf B (eds) Advances in neural information processing systems 16. MIT Press, Cambridge
Prescott TJ, Fernando, Gurney K, Humphries MD, Redgrave P (2006) A robot model of the basal ganglia: behavior and intrinsic processing. Neural Netw 19(1):31–61
Rao R, Sejnowski TJ (1991) Predictive sequence learning in recurrent neocortical circuits. Advances in neural information and processing systems, vol 12. MIT Press, Cambridge
Rohmer E, Singh SP, Freese M (2013) V-rep: a versatile and scalable robot simulation framework. In: 2013 IEEE/RSJ international conference on intelligent robots and systems (IROS). IEEE, pp 1321–1326
Rubilar F, Escobar MJ, Arredondo T (2014) Bio-inspired architecture for a reactive-deliberative robot controller. In: 2014 international joint conference on neural networks (IJCNN). IEEE, pp 2027–2035
Rullen RV, Thorpe S (2001) Rate coding versus temporal order coding: What the retina ganglion cells tell the visual cortex. Neural Comput 13(6):1255–1283
Russell S, Norvig P (2003) Artificial intelligence - a modern approach. Prentice-Hall, Upper Saddle River
Saez S (2013) Diseño y construcción de plataforma para estudio de enjambres de robots. PhD thesis, Professional Engineer’s thesis, Department of Electronic Engineering. Universidad Técnica Federico Santa María
Samson C, Leborgne M, Espiau B (1991) Robot control. The task-function approach. In: Oxford Engineering Science Series, vol 22. Oxford University Press, Oxford
Schneidman E, Berry M, Segev R, Bialek W (2006) Weak pairwise correlations imply strongly correlated network states in a neural population. Nature 440(7087):1007–1012
Schwartz G, Berry MJ (2008) Sophisticated temporal pattern recognition in retinal ganglion cells. J Neurophysiol 99(4):1787–1798. https://doi.org/10.1152/jn.01025.2007
Schwartz G, Harris R, Shrom D, Berry MJ (2007) Detection and prediction of periodic patterns by the retina. Nature Neurosci 10(5):552–554. https://doi.org/10.1038/nn1887. http://dx.doi.org/10.1038/nn1887
Schwartz G, Taylor S, Fisher C, Harris R, Berry MJ (2007) Synchronized firing among retinal ganglion cells signals motion reversal. Neuron 55(6):958–969. https://doi.org/10.1016/j.neuron.2007.07.042. http://dx.doi.org/10.1016/j.neuron.2007.07.042
Searle JR (1980) Minds, brains, and programs. Behav Brain Sci 3:417–457
Serre T (2006) Learning a dictionary of shape-components in visual cortex: comparison with neurons, humans and machines. PhD thesis, Massachusetts Institute of Technology, Cambridge, MA
Serre T, Wolf L, Poggio T (2005) Object recognition with features inspired by visual cortex. In: CVPR, pp 994–1000
Shannon C (1948) A mathematical theory of communication. Bell Syst Techn J 27:379–423, 623–656. http://cm.bell-labs.com/cm/ms/what/shannonday/ shannon1948.pdf
Shlens J, Field G, Gauthier J, Grivich M, Petrusca D, Sher A, Litke A, Chichilnisky E (2006) The structure of multi-neuron firing patterns in primate retina. J Neurosci 26(32):8254
Simoncelli E, Olshausen B (2001) Natural image statistics and neural representation. Annu Rev Neurosci 24(1):1193–1216
Singh P, Minsky M (2003) An architecture for combining ways to think. In: International conference on integration of knowledge intensive multi-agent systems. IEEE, pp 669–674
Singh P, Minsky M (2005) An architecture for cognitive diversity. In: Visions of mind: architectures for cognition and affect. IGI Global, pp 312–331
Smith E, DeCoster J (2000) Dual-process models in social and cognitive psychol- ogy: conceptual integration and links to underlying memory systems. Pers Soc Psychol Rev 4(2):108–131
Stanley K (2007) Compositional pattern producing networks: A novel abstraction of development. Genet Program Evolvable Mach 8(2):131–162
Stanley K, Miikkulainen R (2002) Evolving neural networks through augmenting topologies. Evol Comput 10(2):99–127
Strack F, Deutsch R (2002) Reflective and impulsive determinants of social behavior. Pers Soc Psychol Rev 8(3):220–247
Suzuki M, Floreano D (2008) Enactive robot vision. Adapt Behav 16(2–3):122–128
Taouali W, Goffart L, Alexandre F, Rougier NP (2015) A parsimonious computational model of visual target position encoding in the superior colliculus. Biol Cybern. In Press
Teftef E, Escobar MJ, Astudillo A, Carvajal C, Cessac B, Palacios A, Viéville T, Alexandre F (2013) Modeling non-standard retinal in/out function using computer vision variational methods. Research Report RR-8217, INRIA. https://hal.inria.fr/hal-00783091
Thompson E, Palacios A, Varela F (1992) Ways of coloring: comparative color vision as a case study for cognitive science. Behav Brain Sci 15:1–26
Todorov E (2004) Optimally principles in sensorimotor control. Nature Neurosci 7(9):907–915
Torralba A, Oliva A (2003) Statistics of natural image categories. Netw: Comput Neural Syst 14:391–412. http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.3.6355
Van Essen DC, Gallant JL (1994) Neural mechanisms of form and motion processing in the primate visual system. Neuron 13:1–10
VanRullen R, Thorpe SJ (2002) Surfing a spike wave down the ventral stream. Vision Res 42:2593–2615
Varela F, Thompson E, Rosh E (2001) The embodied mind: cognitive science and human experience. The MIT Press, Cambridge
Varela FJ (1979) Principles of biological autonomy. The North Holland series in general systems research. North Holland, New York
Vieville T (1997) A few steps towards 3D active vision. Springer, Berlin
Vieville T, Crahay S (2004) Using an hebbian learning rule for multi-class svm classifiers. J Comput Neurosci 17(3):271–287
Wang Y, Li S, Chen Q, Hu W (2007) Biology inspired robot behavior selection mechanism: Using genetic algorithm. In: Li K, Fei M, Irwin G, Ma S (eds) Bio-inspired computational intelligence and applications, vol 4688. Lecture notes in computer science. Springer, Berlin, pp 777–786
Wassle H (2004) Parallel processing in the mammalian retina. Nat Rev Neurosci 5(10):747–57
Wohrer A, Kornprobst P (2009) Virtual retina : a biological retina model and simulator, with contrast gain control. J Comput Neurosci 26(2):219
Zagal J, Lipson H (2011) Towards self-reflecting machines: two-minds in one robot. In: Kampis G, Karsai I, Szathmáry E (eds) Advances in artificial life, vol 5777. Darwin meets von neumann, Lecture notes in computer science. Springer, Berlin, pp 156–164
Zagal JC, Lipson H (2009) Self-reflection in evolutionary robotics: resilient adaptation with a minimum of physical exploration. In: Proceedings of the 11th annual conference companion on genetic and evolutionary computation conference: Late Breaking Papers. ACM, pp 2179–2188
Acknowledgements
This work was partially supported by ANR-CONICYT KEOPS (ANR-47); ECOS-CONICYT C13E06; FONDECYT Nro. 1140403, Nro. 1150638; AFOSR Grant Nro. FA9550-19-1-0002; UTFSM DGIP-Grant 231358; Millennium Institute ICM-P09-022-F; Basal Project FB0008. We would also like to thank Patricio Cerda for the simulations performed using MODI and V-REP platform described in Sect. 4.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Escobar, MJ., Alexandre, F., Viéville, T., Palacios, A. (2022). Bio-inspired Robotics. In: Auat, F., Prieto, P., Fantoni, G. (eds) Rapid Roboting. Intelligent Systems, Control and Automation: Science and Engineering, vol 82. Springer, Cham. https://doi.org/10.1007/978-3-319-40003-7_8
Download citation
DOI: https://doi.org/10.1007/978-3-319-40003-7_8
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-40001-3
Online ISBN: 978-3-319-40003-7
eBook Packages: EngineeringEngineering (R0)